LOS ANGELES (CBSMiami/CBS) – Michael Jackson never got to leave his hand-and-footprints at Hollywood’s famous Grauman’s Chinese Theater so more than three years after his death, his children did it for him.

The King of Pop’s kids, Paris, Prince and Blanket Jackson, immortalized their late father in cement outside the historic theater on Thursday.

The star-studded ceremony featured appearances by friends, colleagues, family and celebrities, including Chris Tucker, Justin Bieber, Quincy Jones, Smokey Robinson, Harry Shum Jr. of “Glee” and others. Tito, Marlon, Jackie and Katherine Jackson attended the event, which was held to celebrate the “Michael Jackson The Immortal World Tour” by Cirque du Soleil.

“This right here is his lifetime achievement award. This is what he strived to get and this is what we’re giving him today,” said Prince before he joined his siblings to make imprints of their father’s shoes and signature glove.

Paris was first on her knees to write “Michael Jackson” in the cement, placing a heart in the middle of his name. She then cemented Michael’s sequined glove. Blanket and Paris stamped their father’s footprints with his black dance shoes. All three children made an imprint of their own hands as well. Throughout the ceremony, photographers shouted to get the children to smile more and look at the cameras.

The event featured heartfelt dedications, interspersed with montages of performance footage.

“What will be remembered about Michael is his music … he can never go away,” said Quincy Jones of the late singer, who died in 2009 at the age of 50. “That’s the legacy.”

After Jones’ speech, all three kids smiled, stood up and applauded.

“It’s a very good celebration, and I know if Michael was here, he would agree,” Michael’s mother, Katherine Jackson, told the crowd before introducing her granddaughter, Paris.

Paris took the stage to introduce Canadian pop star Justin Bieber. “I want introduce a performer who also found stardom at a very young age, just like my dad,” she said, wearing a T-shirt, black jeans and a leather jacket. “We’re all very big fans of his [Bieber] and his music. I know I am. Everyone, please welcome Justin Bieber.”

Before singing a rendition of “Rockin’ Robin,” Bieber said, “I don’t usually get nervous but I’m a little nervous right now . He was more than an entertainer. He was an inspiration. People are going to remember for his dancing and singing but people gotta remember him for the man he was . I want to be the best I can be. That’s what Michael did. He was always dancing. He was always practicing.”

The theatre started the Walk of Fame honor in the late 1920s, with many film icons making handprints over the years, including Elizabeth Taylor, Clark Gable, Marilyn Monroe, and Sidney Poitier.